Articulating curved cutter stapler

ABSTRACT

An articulating surgical stapler having a proximal end and a distal end includes a handle at the proximal end and an end effector at the distal end for selective articulation to improve access to tissue requiring treatment and ease of use of the present linear surgical stapler. A support shaft connects the handle to the end effector. An articulation mechanism is positioned between the support shaft and the end effector permitting selective movement of the end effector relative to the support shaft.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation-in-part of U.S. patent applicationSer. No. 11/014,910, filed Dec. 20, 2004, entitled “CURVED CUTTERSTAPLER SHAPED FOR MALE PELVIS”, which is currently pending, whichclaims priority of U.S. Provisional Application Ser. No. 60/532,912,entitled “CURVED CUTTER STAPLER SHAPED FOR MALE PELVIS”, filed Dec. 30,2003.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a surgical stapling and cuttinginstrument adapted for use in the diagnosis and therapy of pathologiestreated by stapled resection. More particularly, the present inventionrelates to a surgical stapling and cutting instrument offeringarticulation of the end effector permitting improved access to surgicalsites.

2. Description of the Prior Art

Surgical stapling and cutting instruments are commonly utilized in thediagnosis and treatment of pathologies treated by staple resection.Surgical stapling instruments provide a mechanism to extend thetransluminal exploitation of mechanical suturing devices introduced viathe anal canal, mouth, stomach and service accesses. Although surgicalstapling and cutting instruments are most commonly utilized with rectalpathologies, surgical stapling and cutting instruments may be used in avariety of environments.

Over time, surgical stapling and cutting instruments have beendeveloped. These instruments generally include a support frame, an anvilattached to the support frame and a cartridge module carrying aplurality of staples. The instruments also include a driver within thecartridge module which pushes all of the staples out simultaneously intothe anvil to form the staples into a generally B-shape, suturing tissuetogether. In addition, these instruments include approximationmechanisms for moving the cartridge module from a spaced positionrelative to the anvil to accept tissue therebetween to a closed positionwhere the tissue is clamped between the anvil and the cartridge module.Finally, the instruments include a firing means for moving the stapledriver forward to form the staples against the anvil.

Once the instrument is positioned within the body cavity, it isimperative that the end effector be oriented properly relative to thetissue requiring resection. Generally, this is accomplished byreorienting the entire instrument, that is, the handle, shaft and endeffector as they are rigidly connected along the longitudinal axis ofthe instrument. This, however, limits the potential for reorienting theend effector as orientation thereof is limited by the access openingthrough which the surgical stapling and cutting instrument is insertedwithin the body.

As such, a need exists for a surgical stapling and cutting instrumentwhich provides for reorientation of the end effector without requiringreorientation of the handle and shaft extending from the body orifice.The present invention provides such a mechanism.

SUMMARY OF THE INVENTION

It is, therefore, an object of the present invention to provide anarticulating surgical stapler having a proximal end and a distal end.The stapler includes a handle at the proximal end and an end effector atthe distal end for selective articulation to improve access to tissuerequiring treatment and ease of use of the present linear surgicalstapler. A support shaft connects the handle to the end effector. Anarticulation mechanism is positioned between the support shaft and theend effector permitting selective movement of the end effector relativeto the support shaft.

It is also an object of the present invention to provide a surgicalstapler wherein the articulation mechanism includes a ball jointcoupling the end effector to the support shaft.

It is a further object of the present invention to provide a surgicalstapler including a locking mechanism associated with the ball joint forpermitting selective locking of the end effector in a desiredorientation and selective release of the end effector for controlledmovement when desired.

It is another object of the present invention to provide a surgicalstapler wherein the locking mechanism includes a ball lock release tube.

It is also another object of the present invention to provide a surgicalstapler wherein the ball joint includes a ball with a contoured outersurface shaped and dimensioned for engagement with a distal end of theball lock release tube.

It is still another object of the present invention to provide asurgical stapler wherein the ball joint includes a ball with a contouredouter surface shaped and dimensioned to lock with the distal end of theball lock release tube, the contouring of the ball helping to ensurefrictional engagement between the ball and the distal end of the balllock release tube.

It is also a further object of the present invention to provide asurgical stapler wherein the articulation mechanism includes multiplearticulation joints.

It is yet a further object of the present invention to provide asurgical stapler wherein the multiple articulation joints are actuatedby a gear and strap rotation mechanism.

It is also an object of the present invention to provide a surgicalstapler wherein the gear and strap rotation mechanism includes anarticulation knob linked to a gear, which is in turn linked to first andsecond control rod, which are linked to a rotation gear that drives afixed gear secured to the end effector.

It is also another object of the present invention to provide a surgicalstapler wherein the multiple articulation joints are actuated by a cablelinked to a gearing structure attached to the end effector.

It is also a further object of the present invention to provide asurgical stapler wherein the end effector is releasably secured to thesupport shaft.

It is another object of the present invention to provide a surgicalstapler wherein a bayonet type lock between the end effector and thesupport shaft permits selective release.

It is still another object of the present invention to provide asurgical stapler wherein the end effector is curved.

It is yet another object of the present invention to provide a surgicalstapler wherein the end effector is a surgical fastening assembly thatincludes a cartridge module and a supporting structure.

It is a further object of the present invention to provide a surgicalstapler wherein the cartridge module includes a cartridge housingcoupled to an anvil.

It is also an object of the present invention to provide a surgicalstapler including a drive cable extending from the handle to the endeffector for actuation of the cartridge module.

It is also another object of the present invention to provide a surgicalstapler wherein the cartridge housing includes a recess shaped anddimensioned for slideably receiving a push collar within which athreaded distal end of the drive cable is engaged for movement of thecartridge housing and push collar toward the anvil.

It is also a further object of the present invention to provide asurgical stapler wherein the push collar is selectively released fromengagement with the cartridge housing permitting continued forwardmovement of the push collar in a manner forcing a knife and staples withthe cartridge housing toward the anvil.

It is also an object of the present invention to provide a surgicalstapler further including an anti-back up mechanism preventing undesiredrearward movement of the cartridge housing.

It is another object of the present invention to provide a surgicalstapler including a flexible retaining pin drive cable actuating aretaining pin.

Other objects and advantages of the present invention will becomeapparent from the following detailed description when viewed inconjunction with the accompanying drawings, which set forth certainembodiments of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a detailed perspective view showing a surgical stapler inaccordance with the present invention.

FIG. 2 is a perspective view of the surgical stapler shown in FIG. 1with the cartridge module actuated.

FIG. 3 is a perspective view of the surgical stapler shown in FIG. 1with the cartridge module removed.

FIGS. 4, 5, 6 and 7 are cross-sectional views of the end effectorshowing actuation of the cartridge module.

FIG. 8 is a detailed view showing the transmission mechanism inaccordance with a preferred embodiment of the present invention.

FIG. 9 is a perspective view of the crank utilized in accordance withthe embodiment shown in FIG. 8.

FIG. 10 is a cross-sectional view of the transmission mechanism.

FIGS. 11, 12, 13 and 14 show various views of the ball joint employed inaccordance with the embodiment shown with reference to FIG. 1.

FIGS. 15 and 16 show yet another embodiment in accordance with thepresent invention.

FIGS. 17 and 18 disclose still another embodiment in accordance with apreferred embodiment of the present invention.

FIGS. 19, 20 and 21 show a detachment mechanism for use in accordancewith the present invention.

FIGS. 22 and 23 show a system providing for rotation of the end effectorin accordance with the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

The detailed embodiments of the present invention are disclosed herein.It should be understood, however, that the disclosed embodiments aremerely exemplary of the invention, which may be embodied in variousforms. Therefore, the details disclosed herein are not to be interpretedas limiting, but merely as the basis for the claims and for teaching oneskilled in the art how to make and/or use the invention.

Referring to FIGS. 1 to 10, a surgical stapling and cutting instrument,in particular, a linear surgical stapler, 10 is disclosed. The linearsurgical stapler 10 is designed to staple and cut tissue. The linearsurgical stapler 10 has a handle 12 at a proximal end 14 and an endeffector 16 at an opposite distal end 18. As is discussed below insubstantial detail, the end effector 16 is supported such that it may beselectively articulated to improve access to tissue requiring treatmentand ease of use of the present linear surgical stapler 10.

The end effector 16 is curved in accordance with a preferred embodimentof the present invention, although those skilled in the art willappreciate end effectors of various shapes may be employed withoutdeparting from the spirit of the present invention. A support shaft 20connects the handle 12 to the end effector 16 of the instrument. Inaccordance with a preferred embodiment of the present invention, thehandle 12 has right and left-hand shrouds 22, 24. The handle 12 also hasa body portion to grip and maneuver the linear surgical stapler 10.

The end effector 16 is a surgical fastening assembly that includes acartridge module 26 and a C-shaped supporting structure 28. The term“C-shaped” is used throughout the specification to describe the concavenature of the supporting structure 28 and the cartridge module 26. TheC-shaped construction facilitates enhanced functionality and the use ofthe term C-shaped in the present specification should be construed toinclude a variety of concave shapes which would similarly enhance thefunctionality of the surgical stapling and cutting instrument. The endeffector 16 is shaped and dimensioned to receive the cartridge module26. The end effector 16 also includes a safety lockout mechanism forpreventing the firing of a previously fired cartridge module. While thepresent end effector is disclosed below as being adapted for use inconjunction with a replaceable cartridge module having variouscomponents, the concepts underlying the present invention could beapplied to a variety of end effector and cartridge module constructionswithout departing from the spirit of the present invention.

As will become apparent based upon the following disclosure, the presentlinear surgical stapler 10 is designed as a multiple firing device witha replaceable cartridge module 26. However, it should be understood thatmany of the underlying concepts of the present invention may be equallyapplied in single firing devices without departing from the spirit ofthe present invention.

More particularly, and in accordance with a preferred embodiment, thecartridge module 26 includes a cartridge housing 30 coupled to an anvil32. The cartridge module 26 also includes a retaining pin 34, a knife36, a removable retainer 38, a tissue contacting surface 40 whichdisplays a plurality of staple-containing slots 42 in staggeredformation in one or more rows (that is, staple lines) on either side ofthe knife 36. Staples (not shown) are fired from the cartridge housing30 against a staple-forming surface 44 of the anvil 32 that faces thetissue-contacting surface 40 of the cartridge housing 30.

As will be discussed below in greater detail, the cartridge module 26operates in the following manner. Once the cartridge module 26 isproperly loaded, a crank 48 mounted along the handle 12 is actuated torotate a drive cable 50, actuating the end effector 16 of the linearsurgical stapler 10. The initial actuation of the drive cable 50 causesinitial closure of the cartridge module 26. That is, the drive cable 50causes the cartridge housing 30 to move from its fully opened positionto an intermediate position between the open and closed positions. Oncethe cartridge housing 30 is moved to its intermediate position, aretaining pin drive cable 52 is actuated to move the retaining pin 34forward from the cartridge housing 30 through an opening in the anvil32. In this position, tissue which has been placed between the cartridgehousing 30 and the anvil 32 can be properly positioned, and theretention of the tissue between the cartridge housing 30 and the anvil32 is assured. When the drive cable 50 has been actuated to move thecartridge housing 30 to its intermediate position, the cartridge housing30 and anvil 32 are correspondingly positioned in their tissue retainingpositions.

As the drive cable 50 is further rotated in a manner driving thecartridge housing 30 forward, the tissue contacting surface 40 of thecartridge housing 30 and the staple-forming surface 44 of the anvil 32are adjacent to each other, and the properly positioned and retainedtissue is consequently fully clamped. Thereafter, the drive cable 50 isfurther rotated driving the staple driver 54 forward in a manner firingthe staples and moving the knife 36 forward to cut the tissue.

The handle 12 of the linear surgical stapler 10 includes a handgrip 56that the surgeon grasps with the palm of his hand. The handgrip 56 iscomposed of a right hand shroud 24 and a left hand shroud 22. Thepreviously discussed crank 48, or other user actuated mechanism, fordriving the firing mechanism of the present surgical stapling andcutting instrument 10 is accessed by a user along the handle 12 of thelinear surgical stapler 10.

Since the articulation of the end effector 16 relative to the supportshaft 20 and handle 12 necessitates a firing mechanism capable ofbending with the articulation of the end effector 16, and as brieflydiscussed above, the handle 12 is linked to the end effector 16 via aflexible drive cable 50. More particularly, the firing mechanism of thepresent linear surgical stapler is actuated by a flexible drive cable 50having a proximal end 58 and a distal end 60. The drive cable 50actuates movement of the cartridge housing 30, driver 54 for the staplesand the knife 36 in a controlled manner. In particular, the drive cable50 extends from the handle 12 of the linear surgical stapler 10 to thecartridge housing 30, driver 54 for the staples and the knife 36 locatedat the end effector 16 of the linear surgical stapler 10.

A user engageable interface 48 is provided at the proximal end 58 of thedrive cable 50. For example, and in accordance with a preferredembodiment, the user engageable interface is a crank 48 which may beselectively rotated by the user to apply torque along the length of thedrive cable 50 which is ultimately converted to linear movements ofcartridge housing 30, driver 54 for the staples and knife 36.

With regard to the distal end 60 of the drive cable 50, it threadinglyengages the cartridge housing 30, driver 54 for the staples and theknife 36 in a manner allowing one to linearly move these elements uponcontrolled rotation of the drive cable 50. As such, by rotating thedrive cable 50, the cartridge housing 30, driver 54 for the staples andknife 36 are moved toward the anvil 32 in a controlled manner allowingone to staple and cut tissue.

More particularly, and with reference to FIGS. 4, 5, 6 and 7, operationof the cartridge housing 30 in driving staples and the knife 36 isshown. In accordance with a preferred embodiment, the cartridge housing30 includes a recess 140 shaped and dimensioned for receiving a pushcollar 142 within which a threaded distal end 144 of the drive cable 50is engaged for movement thereof in a manner discussed below in greaterdetail. As will be discussed below in greater detail, the push collar142 is held within the recess 140 for controlled movement relativethereto.

When the drive cable 50 is rotated in a predetermined direction, thecartridge housing 30 and push collar 142 are moved forward toward theanvil 32. The staples and knife 36 are similarly driven forward towardthe anvil 32. Continued rotation of the drive cable 50 causes thecartridge housing 30 to move even closer to the anvil 32. Once thecartridge housing 30 is relatively close to the anvil 32, the pushcollar 142 is released from engagement with the cartridge housing 30permitting continued forward movement of the push collar 142 and driver54 in a manner forcing the knife 36 and staples toward the anvil 32.

More particularly, the driver 54 is mounted within a recess 146 formedin the cartridge housing 30. The driver 54 is biased by a spring 148 inthe direction away from the anvil 32 and toward the push collar 142. Assuch, when the push collar 142 is released and permitted to freely moverelative to the cartridge housing 30, the driver 54 is pushed toward theanvil 32, against the bias of the spring 148, until the staples andknife 36 are driven through the tissue into the anvil 32 where thestaples are bent over in a manner securing them to the tissue.

As those skilled in the art will certainly appreciate, it is importantthe cartridge housing 30 not be prone to accidental back up. As such, ananti-back up mechanism is provided. The anti-back up mechanism generallyincludes an anti-back up pawl 150 shaped and dimensioned to engage teeth152 formed along the end effector 16 in a manner preventing rearwardmovement of the cartridge housing 30. In particular, the anti-back uppawl 150 is a longitudinally extending member 154 pivotally secured tothe cartridge hosing 30 and biased for rotation toward the wall of theend effector 16. The anti-back up pawl 150 is biased by a spring (notshown) toward the wall of the end effector 16 such that it will engagethe teeth 152 formed therein to prevent backup thereof.

As briefly discussed above, movement of the driver 54 is achieved by theprovision of a push collar 142 within the recess 140 of the cartridgehousing 30. The push collar 142, when maneuvered in conjunction with thedrive cable 50 and a drive pawl 156, allows one to push the driver 54forward against the resistance of the spring 148 biasing the driver 54to a closed position. More particularly, the drive pawl 156 is pivotallymounted on the cartridge housing 30 for movement between a lockingposition (see FIG. 4) and a release position (see FIGS. 5 and 6). In thelocking position, the drive pawl 156 has a first end 158 which engagesthe push collar 142 formed within the recess 140 of the cartridgehousing 30. When engaging the push collar 142, the drive pawl 156prevents movement of the push collar 142 relative to the cartridgehousing 30. The push collar 142 includes internal threads 160 in whichthe distal end 144 of the drive cable 50 rides. As such, and while thedrive pawl 156 is securely holding the push collar 142 in position, theentire cartridge housing 30 is moved forward upon rotation of the drivecable 50.

When the cartridge housing 30 reaches a predetermined point relative tothe anvil 32, the second end 162 of the drive pawl 156 is engaged by aramp 164 along the end effector 16 which rotates it in acounterclockwise direction moving the first end 158 of the drive pawl156 from its engaged locking position with the push collar 142. As such,the push collar 142 is permitted to move distally relative to thecartridge housing 30 as the drive cable 50 is rotated therein. Rotationof the push collar 142 relative to the drive cable 50 is prevented bythe provision of splines 166 extending from the push collar and into thecartridge housing 30. As the drive cable 50 is rotated, with the drivepawl 156 disengaged from the push collar 142, the push collar 142 ispushed toward the anvil 32, thereby pushing the driver 54 against theresistance of the spring 148, toward the anvil 32 in a manner forcingthe staples and knife through the tissue.

In accordance with a preferred embodiment of the present invention,strands and cables are ideal for use in construction of the drive cable.The structures provide greater strength and flexibility than a singlewire filament can achieve. These highly engineered products oftenutilize complex constructions or processes to enhance fatigue life,strength, flexibility, torque, stiffness and smoothness. The drive cablemay range from ultra fine or miniature strands with diameters belowapproximately 0.003″ to cables up to approximately 0.125″ in diameter.

More particularly, and with reference to FIGS. 8, 9 and 10, the crank48, used to rotate the drive cable 50, is coupled to a transmission 62.More particularly, the transmission 62 includes an input spur gear 66which is coupled to the crank 48, a step-up spur gear 68 coupled to theinput spur gear 66, and a crown gear 70 which is coupled to the step-upspur gear 68. The crown gear 70 engages a pinion 72 coupled to the drivecable 50 for rotation thereof.

According to the presently preferred embodiment, an energy storingflywheel 74 is coupled to the drive cable 50. Alternatively, theflywheel 74 and drive cable 50 could be a single molded part. Theflywheel 74 smoothes the operation of the crank 48 which would otherwiserequire the application of increasing force through its rotation, as inthe beginning of its rotation, the drive cable 48 is causing theadvancement of a firing mechanism. Those skilled in the art willappreciate that in order to be effective, the flywheel 74 is preferablyprovided with a relatively large rotational mass for energy storage.When the flywheel 74 is spun (rotated) by rotation of the crank 48, acertain amount of energy is invested which increases the kinetic energyof the flywheel 74. Some of this energy is lost over time to friction.However, some of the energy used to spin the flywheel 74 is stored inthe form of kinetic energy. Later, it is possible to retrieve thisenergy through direct mechanical translation. In the case of the presentinvention, when the crank 48 is first rotated, the drive cable 50 offerslittle resistance and most of the energy applied to the crank 48 is usedto put the flywheel 74 in rotation. Near the end of the crank'srotation, torsional resistance is built up by the drive cable 50 becauseit is near the end of the cycle. At this point, the kinetic energy inthe flywheel 74 is released and eases the remainder of the crank cycle.Preferably, according to the invention, the flywheel 74 is chosen sothat the force which is applied to the crank 48 is substantially even(e.g., does not change by more than 25%) over the entire movement of thecrank 48 necessary to dispense a single clip.

As seen best in FIGS. 9 and 10, the crank 48 is provided with a detentlock 76 which must be released before the crank 48 can be turned andwhich automatically locks the crank 48 after one rotation. Preferably,the crank 48 is also provided with a ratchet mechanism (not shown) whichprevents it from being rotated backwards. The crank 48 is preferablyprovided with a lock (not shown) which prevents it from being turneduntil the jaws are closed. The crank 48 may also be provided with arevolution counter (not shown) which can be coupled to the input spurgear 66 and which counts the number of times the crank 48 has beenrotated and thus indicates the position of the cartridge housing 30,driver 54 for the staples and the knife 36. The revolution counter mayalso be used to prevent the crank 48 from rotating after the firingcycle has been completed.

According to the embodiment illustrated in FIG. 9, the crank 48 has aplurality of spaced apart peripheral finger grips 78 and a knurled outerperiphery 80. The crank handle 82 is optionally removable so that thecrank 48 can be rotated like a knob if desired. The detent lock 76includes a push button 84 having a flange 86, a lock pin 88 having aflange 90 and a spring 92. The lock pin 88 is disposed in a stepped bore94 and is biased by the spring 92 into the stepped bore 94 in the crank48. When the button 84 is pressed, the lock pin 88 is moved against thespring 92 and out of the bore 96, freeing the crank 48 to rotate.

According to an exemplary embodiment, the transmission 62 causes thedrive cable 50 to be rotated a predetermined number of revolutions whenthe crank 48 is turned one revolution. The pitch of the threads 98 atthe distal end 60 of the drive cable 50 results in the cartridge housing30, driver 54 for the staples and the knife 36 advancing a predetermineddistance when the crank 48 is turned one revolution. The gears and thethread pitch are selected for a particular clip length. According to thepresently preferred embodiment, it is only necessary to change the crowngear (by increasing or decreasing the number of teeth) to accommodateclips of different length.

The present surgical stapler 10 is further provided with a retaining pinactuation mechanism 102. However, and considering the present inventionrequires flexing along the articulation joint, actuation of theretaining pin 34 is achieved through the implementation of the flexibleretaining pin drive cable 52. The flexible retaining pin drive cable 52includes a proximal end 104 and a distal end 106. The retaining pindrive cable 52 actuates movement of the retaining pin 34. In particular,the retaining pin drive cable 52 extends from the handle 12 of thelinear surgical stapler 10 to the retaining pin 34 located at the endeffector 16 of the linear surgical stapler 10. A user engageableinterface 108 is provided at the proximal end 104 of the retaining pindrive cable 52. For example, and in accordance with a preferredembodiment, the user engageable interface is a crank 108 which may beselectively rotated by the user to apply torque along the length of theretaining pin drive cable 52.

With regard to the distal end 106 of the retaining pin drive cable 52,it threadingly engages the retaining pin 34 in a manner allowing one tomove the retaining pin 34 upon controlled rotation of the retaining pindrive cable 52. As such, by rotating the retaining pin drive cable 52,the retaining pin 34 is moved toward the anvil 32 in a controlled mannerallowing one to extend the retaining pin 34 across the end effector 16.Movement of the retaining pin drive cable 52 is identical to that of thedrive cable 50 discussed above.

As shown with reference to FIGS. 11, 12, 13 and 14, the supportingstructure 28 of the end effector 16 is attached to the support shaft 20via a ball joint 110 positioned at the distal end 112 of the supportshaft 20, which will be discussed below in greater detail. The balljoint 110 is composed of a ball 114 retained for movement within aconcave recess 116 positioned at the distal end 112 of the support shaft20 and the ball 114 is fixedly secured to the end effector 16 formovement therewith.

In accordance with a preferred embodiment of the present invention, thesupporting structure 28 is formed via a single piece construction. Morespecifically, the supporting structure 28 is formed by extrusion, forexample, of aluminum, with subsequent machining to create the supportingstructure 28 disclosed in accordance with the present invention. Byconstructing the supporting structure 28 in this manner, multiple partsare not required and the associated cost of manufacture and assembly issubstantially reduced. In addition, it is believed the unitary structureof the supporting structure 28 enhances the overall stability of thepresent linear surgical stapler 10. In addition, the unitary extrudedstructure of the supporting structure 28 provides for a reduction inweight, easier sterilization since cobalt irradiation will effectivelypenetrate the extruded aluminum and fewer traumas to tissue based uponthe smooth outer surface achieved via extrusion.

More particularly, the end effector 16 is secured to the support shaft20 in a manner permitting the end effector 16 to selectively moverelative thereto about multiples axes. As will be discussed below ingreater detail, the end effector 16 is selectively secured to thesupport shaft 20 for removal of the end effector 16 and reassemblythereof when the surgical stapler 10 is positioned within the patient'sbody.

More particularly, and as briefly discussed above, the ball joint 110links the end effector 16 to the support shaft 20. The ball joint 110 isheld at the distal end 112 of the support shaft 20 with a concave recessor socket 116 shaped and dimensioned to retain the ball 114 at thedistal end 112 of the support shaft 20 while permitting rotationalmovement relative thereto. In this way, the ball 114 is moved relativeto a socket 116 formed in the distal end 112 of the support shaft 20,resulting in controlled movement of the end effector 16 to which it issecured.

In accordance with a preferred embodiment, and with reference to FIGS.13 and 14, the ball joint 110 is provided with a locking mechanism 118allowing the surgeon to selectively lock the end effector 16 in adesired orientation and selectively release the end effector 16 forcontrolled movement when desired. In particular, a ball lock releasetube 120 extends from the handle 12 to the ball joint 110. The ball lockrelease tube 120 is positioned for axial movement along the length ofsupport shaft 20. As such, it may be moved from a locked position inwhich it is in engagement with the ball joint 110 and an unlockedposition in which it is proximally positioned away from the ball joint110.

A spring 122 is connected to the ball lock release tube 120 for biasingit to its locked position. When, however, it is desired to move the balllock release tube 120, a release arm 124, secured to the ball lockrelease tube 120, is actuated to draw the ball lock release tube 120away from the ball joint 110. When the ball lock release tube 120 iswithdrawn in this manner, the ball joint 110 is free to rotate forarticulation of the end effector 16 in a desired manner.

Locking of the ball joint 110 is further enhanced by providing the ball114 with a contoured outer surface shaped and dimensioned to “lock” withthe distal end 126 of the ball lock release tube 120. The contouring ofthe ball 114 helps to ensure frictional engagement between the ball 114and the distal end 126 of the ball lock release tube 120.

With the foregoing in mind, the release tube 120 and the ball 114 permitrelative orienting of the end effector 16. However, and in accordancewith a preferred embodiment of the present invention, this articulationmust be preset prior to use of the apparatus. It is, however,contemplated, orientation of the end effector 16 could be adjusted in abody cavity by releasing the release tube 120 and applying appropriateforce to the end effector 16 to adjust its position. Thereafter, therelease tube 120 is moved back into engagement with the ball 114 lockingthe end effector 16 back into its desired position.

In accordance with an alternate embodiment, and with reference to FIGS.15 and 16, articulation of the end effector 216 is controlled bymultiple articulation joints. Rotation of the end effector 216 about anaxis substantially in line with the longitudinal axis of the linearsurgical stapler 210 is achieved by coupling the end effector 216 to asupport shaft 220 and allowing the support shaft 220 to rotate relativeto the handle 212. The support shaft 220 includes a distal end 222fixedly secured to the end effector 216 such that the end effector 216will move with the support shaft 220. The proximal end 224 of thesupport shaft 220 is secured to the handle 212 for rotation relativethereto.

Controlled movement of the support shaft 220 relative to the handle 212is facilitated by a remote articulation member 226 that acts upon thesupport shaft 220 in a manner causing it to rotate about a longitudinalaxis of the linear surgical stapler 210 and ultimately rotate the endeffector 216 about the same axis.

With regard to rotation of the end effector 216 about an axis that isperpendicular to the longitudinal axis of the linear surgical stapler210, it is controlled by a gear and strap rotation mechanism 228. Inparticular, the handle 212 is provided with an articulation knob 230linked to a gear 232, which is in turn linked to first and secondcontrol rod 234 a, 234 b. Similarly, the end effector 216 includes afixed gear 236 that is linked to the other end of the control rods 234a, 234 b via a rotation gear 238 at the distal end 222 of the supportshaft 220. The fixed gear 236 of the end effector 216 is fixedly securedto the end effector 216, but mounted for rotation in a manner such thatthe end effector 216 is rotated as the rotation gear 238 is rotated. Assuch, and in practice, as the knob 230 is rotated the gear 232 of thehandle 212 is similarly rotated, causing the control rods 234 a, 234 bto move and rotate the rotation gear 238 which in turn rotates the fixedgear 236 of the end effector and ultimately rotates the end effector216. Rotation in this manner may be used to rotate the end effector 216in both clockwise and counterclockwise directions to facilitate a widerange of orientations.

Similarly, and with reference to FIGS. 17 and 18, the control rods maybe replaced with a cable 234′ which actuates a gearing structure 232′attached to the end effector 216′.

Referring to FIGS. 19, 20 and 21, and with regard to with either of thearticulation mechanisms discussed above, the end effector 316 isreleasably secured to the support shaft 320 in a manner permittinggreater versatility in the use of the present linear surgical stapler310. In accordance with a preferred embodiment, the support shaft 320 isprovided with a bayonet type lock 334 shaped and dimensioned to engage adetachable lock head 330 secured to the proximal end 338 of the endeffector 316 via a threaded shaft 332. As those skilled in the art willappreciate, to engage the bayonet type lock 334, one need only insertthe locking nut 330 over the bayonet type lock 334 and rotate lockingnut 330 to engage in the bayonet slot 338. Mating splines 336 areprovided within the bayonet type lock 334 and lock head 330 to ensureproper positioning of the elements. As those skilled in the art willappreciate, the connection described above will be provided with acentral passageway to allow for passage of control cables and othermechanism required for actuation of the end effector.

In accordance with an alternate to the those embodiments previouslydiscussed, and with reference to FIG. 22, the ball joint disclosed withreference to FIGS. 11, 12, 13 and 14 may be combined with a rotationshaft 480 extending through a passageway 482 formed in the ball joint410 and to the end effector 416. With the rotation shaft 480 fixedlysecured within the end effector 416 rotation of the rotation shaft 480will cause rotary movement of the end effector 416 about thelongitudinal axis of the support shaft 420. Rotation in this manner isfacilitated by providing bearings 484 between the ball joint 410 and thesupport shaft 420 such that the ball joint 410 may similarly rotate whenthe rotation shaft 480 is actuated.

In accordance with yet a further embodiment, and with reference to FIG.23, the embodiment disclosed above may be simplified with the removal ofthe ball joint 510 where one only wishes to provide rotary adjustment ofthe end effector 516 about the longitudinal axis of the support shaft520. Motion of the end effector 516 relative to the support shaft 520 isfacilitated by the inclusion of bearings 584 between the proximal endshaft 586 of the end effector 516 and the distal end 588 of the supportshaft 520, wherein the proximal end shaft 586 of the end effector 516 isshaped and dimensioned to fit within the support shaft 520.

While the preferred embodiments have been shown and described, it willbe understood that there is no intent to limit the invention by suchdisclosure, but rather, is intended to cover all modifications andalternate constructions falling within the spirit and scope of theinvention.

1. An articulating surgical stapler having a proximal end and a distalend, comprising: a handle at the proximal end and an end effector at thedistal end for selective articulation to improve access to tissuerequiring treatment and ease of use of the articulating surgicalstapler; a support shaft connects the handle to the end effector,wherein the end effector is a surgical fastening assembly that includesa supporting structure and a cartridge module, and a rotary drive cablelinks the handle to the end effector for actuation of the cartridgemodule as the cable rotates about a length of the drive cable; and anarticulation mechanism positioned between the support shaft and the endeffector permitting selective movement of the end effector relative tothe support shaft, wherein the articulation mechanism includes a balljoint coupling the end effector to the support shaft and a lockingmechanism associated with the ball joint for permitting selectivelocking of the end effector in a desired orientation and selectiverelease of the end effector for controlled movement when desired,wherein the locking mechanism includes a ball lock release tube, theball lock release tube being positioned for axial movement relative tothe support shaft for selective movement from a locked position in whichthe ball lock release tube is in engagement with the ball joint and anunlocked position in which the ball lock release tube is positioned awayfrom the ball joint.
 2. The surgical stapler according to claim 1,wherein the ball joint includes a ball with a contoured outer surfaceshaped and dimensioned for engagement with the distal end of the balllock release tube.
 3. The surgical stapler according to claim 1, whereinthe ball joint includes a ball with a contoured outer surface shaped anddimensioned to lock with the distal end of the ball lock release tube,the contouring of the ball helping to ensure frictional engagementbetween the ball and the distal end of the ball lock release tube. 4.The surgical stapler according to claim 1, wherein the cartridge moduleis composed of a cartridge housing and an anvil, and the rotary drivecable links the handle to the end effector for actuation of thecartridge module causing the cartridge housing to move forward towardthe anvil and firing the cartridge module as the drive cable rotatesabout its length.
 5. An articulating surgical stapler having a proximalend and a distal end, comprising: a handle at the proximal end and anend effector at the distal end for selective articulation to improveaccess to tissue requiring treatment and ease of use of the articulatingsurgical stapler; a support shaft connects the handle to the endeffector, wherein the end effector is a surgical fastening assembly thatincludes a supporting structure and a cartridge module composed of acartridge housing and an anvil, and a rotary drive cable links thehandle to the end effector for actuation of the cartridge module causingthe cartridge housing to move forward toward the anvil and firing thecartridge module as the cable rotates about a length of the drive cable;an articulation mechanism positioned between the support shaft and theend effector permitting selective movement of the end effector relativeto the support shaft, wherein the articulation mechanism includesmultiple articulation joints providing for rotation of the end effectorrelative to the support shaft about an axis substantially in line with alongitudinal axis of the linear surgical stapler and providing forrotation of the end effector relative to the support shaft about an axisperpendicular to the longitudinal axis of the surgical stapler; andfurther including a gear and strap rotation mechanism providing forrotation of the end effector about an axis perpendicular to thelongitudinal axis of the surgical stapler.
 6. The surgical stapleraccording to claim 5, wherein the gear and strap rotation mechanismincludes an articulation knob linked to a gear, which is in turn linkedto first and second control rods, which are linked to a rotation gearthat drives a fixed gear secured to the end effector.